A probe loading device for unmanned marine surveying and mapping based on complex environments

Abstract

The present application provides a probe loading device for an unmanned ship for ocean surveying and mapping based on a complex environment, which relates to the technical field of unmanned ship surveying and mapping components, including a loading structure, a surveying and mapping probe and a protective structure. The loading structure includes a loading cylinder, a visual window, a base, a vertical plate, an outer gear ring, a driving gear and a rotating cylinder; the protective structure includes a protective arc plate, the cross-section of the protective arc plate is C-shaped, and an assembly base is provided on the top of the protective arc plate; its technical points are: by keeping the loading cylinder movable relative to the protective arc plate, when the rotating cylinder drives the outer gear ring to drive the vertical plate to rotate in the form of controlling the rotation of the driving gear, the base can drive the loading cylinder to rotate on the inner side of the protective arc plate, so that the loading cylinder can move relative to the protective arc plate, and foreign matter can be removed with the help of the side edges of the protective arc plate, and the external structure of the protective arc plate and the loading cylinder in the combined state is simple and regular, and foreign matter is not easily entangled.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vessel surveying and mapping components, and in particular to a probe loading device for an unmanned vessel for ocean surveying and mapping based on a complex environment. Background Art

[0002] Compared to terrestrial surveying, marine surveying possesses many unique characteristics, including its basic theories, technical methods, and surveying instruments. These include the highly comprehensive nature of surveying, requiring the coordination of multiple instruments and the simultaneous completion of multiple observational projects. Survey conditions are complex, with the sea surface fluctuating under the influence of tides, weather, and other factors. Most surveys are dynamic, and surveyors cannot visually see the bottom of the water, making accurate measurements challenging. Control points and survey point locations are typically determined using radio navigation systems, electromagnetic rangefinders, hydroacoustic positioning systems, satellite-based navigation systems, inertial navigation systems, and astronomical methods. Water depth and seafloor topography measurements are performed using hydroacoustic instruments, laser instruments, and underwater photogrammetry. Marine geophysical surveys employ satellite technology, aerial surveys, and marine gravity and magnetometry.

[0003] Marine surveying methods primarily include marine seismic surveys, marine gravity surveys, marine magnetometry, seafloor heat flow surveys, marine electrical surveys, and marine radioactivity surveys. Due to the presence of ocean water, rapid and continuous observations must be conducted using oceanographic survey vessels and specialized surveying instruments, enabling comprehensive surveys with multiple uses. Basic surveying methods include: ① Route surveys, also known as profile surveys, to understand the geological structure and basic geophysical characteristics of the marine area. ② Area surveys, in which a network of survey lines is laid out at regular intervals according to the mapping scale specified for the task. The larger the scale, the denser the survey network. Radio positioning systems and satellite navigation systems are widely used in marine surveys.

[0004] As a type of ocean survey vessel, an unmanned boat is a fully automatic surface robot that can navigate on the water according to preset tasks without remote control, relying on precise satellite positioning and its own sensors. It can be used for flow measurement in large rivers, small and medium-sized rivers, and emergency scenarios, and provides high-precision velocity profiles and flow calculation solutions based on ADCP. It is widely used in scenarios such as hydrology and water conservancy, water resources surveys, urban water area monitoring, and emergency response to sudden water situations.

[0005] The patent document with announcement number CN215904686U discloses a probe loading device for an unmanned ship for ocean surveying and mapping, which is equipped with a baffle and a rotating part. The baffle is installed at the bottom of the vertical part, and the rotating part is installed on both sides of the bottom of the main body. When the ship is moving in use, the blades are set to an S-shaped structure, and the impact force of the sea water causes the blades to drive the rotating part to rotate, thereby preventing debris from approaching the probe. The bottom baffle is driven by the ship, and when encountering debris, the baffle is set to a wedge structure, thereby better blocking and cutting the debris, preventing the debris from blocking the probe and affecting the surveying and mapping.

[0006] The patent document with announcement number CN213543555U discloses a probe loading device for an unmanned marine surveying vessel. The device adjusts the height of the probe to facilitate convenient use of the probe during marine surveying, effectively avoiding the impact of seawater turbulence on the detection probe when the waves are large, and protects the probe by storing it, effectively avoiding corrosion loss when the probe is not in use, thereby improving the practicality of the probe loading device when in use.

[0007] However, in the process of implementing the above technical solution, it was found that the above technical solution had the following technical problems:

[0008] The probe loading device for unmanned marine surveying and mapping vessels (Announcement No.: CN215904686U) uses a blocking structure and cutting blades to clean up debris around the probe, while the probe loading device for unmanned marine surveying and mapping vessels (Announcement No.: CN213543555U) stores and protects the probe by adjusting its height. However, in actual application, when using a cutting blade to clean debris around the probe, algae and marine debris are likely to become entangled in the rotating blade shaft, making it difficult for the blade to continue cleaning debris. When the probe is not in use, simply storing the probe for protection may cause marine algae to attach to the outside of the probe, affecting the subsequent use of the probe. Summary of the Invention

[0009] In order to overcome the shortcomings of the existing probe loading device for ocean mapping unmanned ships, which uses a cutting blade to clean debris around the probe when loading the surveying probe, and is prone to algae and marine debris being entangled in the rotating blade shaft, making it difficult for the blade to continue to clean the debris. When the probe is not in use, the probe is simply stored for protection, which is prone to marine algae attaching to the outside of the probe, affecting the subsequent use of the probe, an embodiment of the present application provides a probe loading device for ocean mapping unmanned ships based on complex environments. By arranging a loading structure and a protective structure at the bottom of the surveying unmanned ship, the loading cylinder is kept movable relative to the protective arc plate. When the rotating cylinder drives the outer gear ring to drive the vertical plate to rotate in the form of controlling the rotation of the active gear, the base can drive the loading cylinder to rotate on the inner side of the protective arc plate, so that the loading cylinder can move relative to the protective arc plate, and foreign objects can be removed with the help of the side edges of the protective arc plate. The external structure of the protective arc plate and the loading cylinder in the combined state is simple and regular, and foreign objects are not easily entangled.

[0010] The technical solution adopted by the embodiment of the present application to solve the technical problem is:

[0011] A probe loading device for an unmanned ocean surveying and mapping vessel in a complex environment, comprising a loading structure, a surveying and mapping probe, a protective structure, and an unmanned surveying and mapping vessel;

[0012] The mapping probe is arranged inside the loading structure;

[0013] The protective structure rests on the outside of the loading structure;

[0014] Mapping unmanned vessels;

[0015] The loading structure includes a loading cylinder, a visual window is embedded in the side of the bottom of the loading cylinder, a base is provided on the inner side of the bottom of the loading cylinder, a vertical plate is assembled and connected to the top of the base away from the visual window, an outer gear ring is assembled and connected to the outer side of the outer gear ring, and a driving gear is meshed and connected to the top of the driving gear. A rotating cylinder is assembled and connected;

[0016] The protection structure includes a protection arc plate, the cross section of the protection arc plate is C-shaped, and an assembly base is provided on the top of the protection arc plate;

[0017] The surveying and mapping probe is assembled and connected to the top of the base, and the loading cylinder moves relative to the protective arc plate to remove foreign matter with the help of the side edges and corners of the protective arc plate.

[0018] In one possible implementation, a positioning rib is integrally formed on the inner wall of the loading cylinder away from the viewing window, a positioning slide is integrally formed on the bottom of the base away from the viewing window, and the positioning slide and the side of the base away from the viewing window are jointly processed with an inward-recessed groove; the positioning slide is slidingly connected to the outside of the positioning rib through the inward-recessed groove, and the rotating cylinder drives the outer ring gear to rotate the vertical plate in the form of controlling the rotation of the active gear, so that the base drives the loading cylinder to rotate on the inner side of the protective arc plate.

[0019] In one possible implementation, a column is provided on the bottom surface of the bottom of the base close to the positioning slide, the bottom of the column is threadedly connected to a support screw, and the middle of the support screw is threadedly connected to a lock nut; the lock nut is supported on the bottom surface of the column, and the support screw is supported against the bottom inner wall of the loading cylinder.

[0020] In a possible implementation, a conductive slip ring is provided on the top of the outer gear ring, and the wire on the surveying and mapping probe is connected to the wire extending from the bottom of the conductive slip ring.

[0021] In one possible implementation, a storage groove is opened inside the vertical plate, and two positioning double rods are welded on the inner wall of the storage groove. The wire on the surveying and mapping probe is folded from the center and passes through the inner side of the two positioning double rods, so that the folding point is from the storage groove toward the axial area of ​​the loading cylinder.

[0022] In one possible implementation, the top of the outer gear ring is covered with a buckle frame, a sector-shaped block is integrally formed on the inner wall of the outer gear ring, a horizontal bar is integrally formed on the top of the buckle frame, and a support shaft is provided at the bottom of the horizontal bar near the center of the buckle frame; the buckle frame is assembled to the interior of the surveying and mapping unmanned ship by bolts, the inner wall of the buckle frame is fitted with the top outer wall of the loading cylinder, one end of the support shaft passes through the interior of the sector-shaped block and is connected to it using a bearing, the rotating cylinder is assembled to the end of the horizontal bar away from the center of the buckle frame, and the driving gear passes through the interior of the buckle frame and engages with the outer gear ring.

[0023] In one possible implementation, a mounting slot is provided at the edge of the buckle frame, the rotating cylinder shaft assembled to the top of the horizontal bar is located at the top of the mounting slot, and a bolt passes through the inside of the mounting slot to assemble and fix the driving gear and the rotating cylinder shaft.

[0024] In a possible implementation, a receiving slot is formed on the bottom of the surveying and mapping unmanned boat, and the assembly base is riveted and fixed to the top inner wall of the receiving slot, so that the assembly base is completely received inside the receiving slot.

[0025] In one possible implementation, the protective arc plate is processed with an axle rod at the top on both sides parallel to the forward direction of the surveying and mapping unmanned ship, and the assembly base is provided with a limit column groove and a strip groove opening inside on both sides parallel to the forward direction of the surveying and mapping unmanned ship. The strip groove connects the limit column groove with the edge, and the diameter of the limit column groove is larger than the width of the strip groove. The outer part of the axle rod is sleeved with a buckle cap that is pinned to the inside of the limit column groove.

[0026] In one possible implementation, an annular groove and a cylindrical notch are provided at the bottom of the loading cylinder, a movable groove with a cross-shaped cross-section is provided on the inner side of the protective arc plate, a limiting pin bar pinned to the inside of the protective arc plate is provided on the top of the movable groove, the inner movably connected to the limiting ball of the annular groove, the surface of the limiting ball is integrally formed with a short rod, and the internal pin connection of the short rod away from the end of the limiting ball is connected with a cross bar; the cylindrical notch is perpendicular to the center of the loading cylinder, and connects the outer side of the loading cylinder with the inner side of the annular groove, the outer side of the annular groove is connected with the outer side of the loading cylinder, and the short rod and the cross bar are slidably connected to the inside of the movable groove.

[0027] The beneficial effects of this application are:

[0028] First, in this solution, by arranging a loading structure and a protective structure at the bottom of the surveying and mapping unmanned vessel, the loading cylinder is kept movable relative to the protective arc plate. When the rotating cylinder controls the rotation of the active gear, driving the outer gear ring to drive the vertical plate to rotate, the base can drive the loading cylinder to rotate inside the protective arc plate, so that the loading cylinder can move relative to the protective arc plate, and foreign matter can be removed with the help of the side edges of the protective arc plate. In addition, the external structure of the protective arc plate and the loading cylinder in the combined state is simple and regular, and foreign matter is not easily entangled.

[0029] Secondly, in this solution, by positioning the short rod and the cross rod inside the movable groove when the loading cylinder rotates on the inner side of the protective arc plate, the loading cylinder can be supported to rotate outside the limiting ball through the annular groove. At the same time, when the loading cylinder is lifted to the top, the loading cylinder pulls the limiting ball through the annular groove to drive the short rod and the cross rod to move to the top. After the short rod and the cross rod contact the limiting pin bar at the top of the movable groove, the protective arc plate is driven to rotate around the axis rod, which facilitates the linkage of the protective arc plate to be in a horizontal state. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the overall structure of a probe loading device for an unmanned ship used for ocean surveying and mapping in a complex environment according to the present invention;

[0031] Figure 2 This is the second overall structural diagram of a probe loading device for an unmanned ship for ocean surveying and mapping based on complex environments according to the present invention;

[0032] Figure 3This invention is a probe loading device for unmanned marine surveying and mapping based on complex environments Figure 2 A magnified schematic diagram of part A in the middle;

[0033] Figure 4 This is a schematic diagram of the connection structure of the loading structure and the protective structure of a probe loading device for an unmanned ship for ocean mapping based on complex environments according to the present invention;

[0034] Figure 5 This is a structural schematic diagram of a probe loading device for an unmanned ship for ocean surveying and mapping in a complex environment according to the present invention, in which the loading structure and the protective structure are disconnected;

[0035] Figure 6 This is a schematic diagram of the bottom structure of a base of a probe loading device for an unmanned ship used for ocean mapping in complex environments according to the present invention;

[0036] Figure 7 This is a structural schematic diagram of a probe loading device for an unmanned ship for ocean surveying and mapping in a complex environment according to the present invention, in which a loading cylinder is driven;

[0037] Figure 8 This invention is a probe loading device for unmanned marine surveying and mapping based on complex environments Figure 7 A magnified schematic diagram of part B in the middle;

[0038] Figure 9 This is a structural diagram of a probe loading device for an unmanned ship for ocean mapping in a complex environment according to the present invention, in which the rotating cylinder and the driving gear are disconnected;

[0039] Figure 10 This is a cross-sectional view of a loading tube and a protective arc plate of a probe loading device for an unmanned ship for ocean mapping in a complex environment according to the present invention;

[0040] Figure 11 This invention is a probe loading device for unmanned marine surveying and mapping based on complex environments Figure 10 Enlarged schematic diagram of the middle C part;

[0041] Figure 12 This invention is a probe loading device for unmanned marine surveying and mapping based on complex environments Figure 10 Enlarged schematic diagram of part D in the middle.

[0042] Reference numerals:

[0043] 1. Surveying and mapping unmanned vessels;

[0044] 2. Loading structure; 201. Loading cylinder; 202. Rotating cylinder; 203. Driving gear; 204. Horizontal bar; 205. Outer gear ring; 206. Buckle frame; 207. Sector block; 208. Support shaft; 209. Vertical plate; 210. Visible window; 211. Base; 212. Positioning slide; 213. Support screw; 214. Locknut; 215. Vertical column; 216. Positioning rib;

[0045] 3. Protective structure; 301. Protective arc plate; 302. Assembly base; 303. Buckle cap; 304. Shaft; 305. Limit pin; 306. Limit ball; 307. Short rod; 308. Crossbar;

[0046] 4. Storage slot; 5. Strip slot; 6. Conductive slip ring; 7. Surveying probe; 8. Positioning double rod; 9. Storage strip slot; 10. Recessed slot; 11. Cylindrical slot; 12. Installation slot; 13. Limit column slot; 14. Movable slot; 15. Ring slot. DETAILED DESCRIPTION

[0047] The technical solution in the embodiments of the present application is to solve the problems of the above-mentioned background technology, and the overall idea is as follows:

[0048] Example 1: This example introduces a specific structure of a probe loading device for an unmanned ship used for ocean surveying and mapping in a complex environment. Figures 1-9 As shown, it includes a loading structure 2, a surveying and mapping probe 7 arranged inside the loading structure 2, a protective structure 3 leaning against the outside of the loading structure 2, and a surveying and mapping unmanned boat 1. The loading structure 2 includes a loading cylinder 201. The side of the bottom of the loading cylinder 201 is embedded with a visual window 210. The inner side of the bottom of the loading cylinder 201 is provided with a base 211. The surveying and mapping probe 7 is assembled to the top of the base 211. The top of the base 211 away from the visual window 210 is assembled to a vertical plate 209. The top of the vertical plate 209 is assembled to an outer gear ring 205. The outer side of the outer gear ring 205 is meshed with a driving gear 203. The top of the driving gear 203 is assembled to a rotating cylinder 202.

[0049] The protection structure 3 includes a protection arc plate 301, the cross section of the protection arc plate 301 is C-shaped, and an assembly base 302 is provided on the top of the protection arc plate 301;

[0050] A positioning rib 216 is integrally formed on the inner wall of the loading cylinder 201 on the side away from the viewing window 210, and a positioning slide 212 is integrally formed on the bottom of the base 211 on the side away from the viewing window 210. The positioning slide 212 and the side of the base 211 away from the viewing window 210 are both processed with an inward-recessed notch 10. When the positioning slide 212 is slidably connected to the outside of the positioning rib 216 through the inward-recessed notch 10, the positioning slide 212 can be slidably connected to the outside of the positioning rib 216 with the help of the inward-recessed notch 10, ensuring that the loading cylinder 201 maintains a synchronous movement with the base 211 in a direction perpendicular to its axis.

[0051] At the same time, when the rotating cylinder 202 controls the rotation of the driving gear 203, driving the outer ring gear 205 and the vertical plate 209 to rotate, the base 211 can drive the loading cylinder 201 to rotate inside the protective arc plate 301, allowing the loading cylinder 201 to move relative to the protective arc plate 301, and using the side edges of the protective arc plate 301 to remove foreign matter (marine organisms clinging to the outer wall of the loading cylinder 201);

[0052] Moreover, the external structure of the protective arc plate 301 and the loading cylinder 201 in the combined state is simple and regular, and foreign matter is not easily entangled;

[0053] In addition, the ratio of the number of teeth of the outer ring gear 205 to the number of teeth of the driving gear 203 is two to one, and the rotary cylinder 202 is a model with 360-degree forward and reverse rotation. When the rotary cylinder 202 rotates, it can drive the driving gear 203 to cause the outer ring gear 205 to rotate half a circle, causing the surveying probe 7 and the loading cylinder 201 on the top of the base 211 to rotate 180 degrees. The direction of the viewing window 210 and the surveying probe 7 is opposite to the position of the protective arc plate 301, thereby supporting the surveying probe 7 to obtain images of the marine environment from underwater.

[0054] Secondly, in order to facilitate the control of the relative position of the surveying probe 7 and the visual window 210, as shown in FIG. Figure 5 and Figure 6 As shown, a column 215 is provided on the bottom surface of the bottom of the base 211 near the positioning slide 212. The bottom of the column 215 is threadedly connected to a support screw 213, and the middle of the support screw 213 is threadedly connected to a lock nut 214. By adjusting the threaded connection between the support screw 213 and the column 215, the distance between the support screw 213 and the column 215 is controlled. When the threaded connection between the lock nut 214 and the support screw 213 is adjusted so that the lock nut 214 is supported on the bottom surface of the column 215, the support screw 213 can be supported to abut against the bottom inner wall of the loading cylinder 201, thereby supporting the surveying and mapping probe 7 to obtain marine environment images from underwater through the visual window 210.

[0055] Furthermore, in order to facilitate the loading cylinder 201 to drive the surveying probe 7 to rotate inside the protective arc plate 301 without being affected by the wires on the surveying probe 7, Figure 5 As shown, a conductive slip ring 6 is provided on the top of the outer gear ring 205. By connecting the wire on the surveying probe 7 with the wire extending from the bottom of the conductive slip ring 6, the inner and outer parts of the conductive slip ring 6 can rotate relative to each other to ensure normal transmission of the power signal.

[0056] At the same time, in order to prevent the wires on the surveying and mapping probe 7 from being scattered inside the loading cylinder 201, affecting the surveying and mapping probe 7 from obtaining the ocean environment image from underwater through the visual window 210, such as Figure 6 As shown, a storage groove 9 is provided inside the vertical plate 209, and two positioning double rods 8 are welded to the inner wall of the storage groove 9. By folding the wire on the surveying and mapping probe 7 from the center and passing it through the inner sides of the two positioning double rods 8, with the folding point facing the storage groove 9 toward the axis of the loading cylinder 201, the excessive length of the wire can be restrained on the vertical plate 209, preventing the wire from being scattered and blocking the lens of the surveying and mapping probe 7;

[0057] In some examples, the top of the outer gear ring 205 is covered with a buckle frame 206, and a sector block 207 is integrally formed on the inner wall of the outer gear ring 205. A horizontal bar 204 is integrally formed on the top of the buckle frame 206, and a support shaft 208 is provided at the bottom of the horizontal bar 204 near the center of the buckle frame 206.

[0058] The bracket 206 is assembled to the interior of the surveying and mapping unmanned vessel 1 by bolts. The inner wall of the bracket 206 is in contact with the outer wall of the top of the loading cylinder 201. One end of the support shaft 208 passes through the interior of the sector block 207 and is connected to it using a bearing. The rotating cylinder 202 is assembled to the end of the horizontal bar 204 away from the center of the bracket 206. The driving gear 203 passes through the interior of the bracket 206 and meshes with the outer gear ring 205.

[0059] At the same time, waterproofing is applied between the inner wall of the buckle frame 206 and the top outer wall of the loading tube 201, and adopts the conventional method of rotating parts of the existing hull extending into the water (such as the waterproofing treatment maintained between the propeller of a submarine rotating in the water and the hull);

[0060] Secondly, in order to facilitate the assembly and fixation of the rotating cylinder 202 and the driving gear 203, as shown in FIG. Figure 9 As shown, a mounting slot 12 is provided at the edge of the buckle frame 206. By positioning the rotating shaft of the rotating cylinder 202 assembled to the top of the horizontal bar 204 at the top of the mounting slot 12, the driving gear 203 can be assembled and fixed to the rotating shaft of the rotating cylinder 202 when the bolt passes through the inside of the mounting slot 12.

[0061] The above design maintains the loading cylinder 201 in a movable state relative to the protective arc plate 301 by arranging the loading structure 2 and the protective structure 3 at the bottom of the surveying and mapping unmanned vessel 1. When the rotating cylinder 202 drives the outer gear ring 205 to drive the vertical plate 209 to rotate in the form of controlling the rotation of the active gear 203, the base 211 can drive the loading cylinder 201 to rotate inside the protective arc plate 301, so that the loading cylinder 201 can move relative to the protective arc plate 301, and foreign matter can be removed by means of the side edges and corners of the protective arc plate 301. The external structure of the protective arc plate 301 and the loading cylinder 201 in the combined state is simple and regular, and it is not easy for foreign matter to be entangled. This solves the problem that the existing probe loading device uses a cutting blade to clean debris around the probe when loading the surveying probe, which easily causes algae and marine debris to be entangled in the rotating shaft of the rotating blade, making it difficult for the blade to continue to clean the debris. When the probe is not in use, the method of simply storing the probe for protection is used, which easily causes marine organisms and algae to adhere to the outside of the probe, affecting the subsequent use of the probe.

[0062] At the same time, in the initial state, the visible window 210 on the loading cylinder 201 is located on the inner side of the protective arc plate 301. When the rotating cylinder 202 rotates, it can drive the driving gear 203 to drive the outer ring gear 205 to rotate, so that the surveying and mapping probe 7 on the top of the base 211 and the loading cylinder 201 are rotated to a position opposite to the position of the protective arc plate 301, thereby supporting the surveying and mapping probe 7 to obtain images of the marine environment from underwater.

[0063] Example 2: Based on Example 1, this example introduces a specific structure of a protective structure 3 and a loading structure 2 for a probe loading device for an unmanned marine surveying and mapping vessel based on a complex environment, such as Figure 2 、 Figure 3 、 Figures 10 to 12 As shown, a receiving slot 4 is formed on the bottom of the surveying and mapping unmanned vessel 1, and an assembly base 302 is riveted and fixed to the top inner wall of the receiving slot 4. A shaft 304 is processed on the top of the protective arc plate 301 on both sides parallel to the forward direction of the surveying and mapping unmanned vessel 1. A limiting column slot 13 and a strip slot 5 are provided inside the assembly base 302 on both sides parallel to the forward direction of the surveying and mapping unmanned vessel 1;

[0064] The strip-shaped slot 5 connects the limiting column slot 13 to the edge, and the diameter of the limiting column slot 13 is larger than the width of the strip-shaped slot 5. A buckle cap 303 is sleeved on the outside of the shaft 304 and pinned to the inside of the limiting column slot 13. This supports the protective arc plate 301 to rotate around the buckle cap 303 on the inside of the assembly base 302, so that the protective arc plate 301 is in a horizontal state and completely stored inside the storage slot 4.

[0065] Secondly, in order to facilitate the extraction of the loading cylinder 201 into the interior of the surveying and mapping unmanned vessel 1, the protective arc plate 301 can be directly rotated around the buckle cap 303 so that the protective arc plate 301 is stored in the inner side of the storage slot 4 in a horizontal state. Figure 12 As shown, an annular groove 15 and a cylindrical notch 11 are provided at the bottom of the loading cylinder 201, a movable groove 14 with a cross-shaped cross section is provided on the inner side of the protective arc plate 301, and a limiting pin 305 pinned to the inner side of the protective arc plate 301 is provided on the top of the movable groove 14. A limiting ball 306 is movably connected to the inner side of the annular groove 15, and a short rod 307 is integrally formed on the surface of the limiting ball 306. A cross bar 308 is pinned to the inner side of the short rod 307 away from the limiting ball 306. By making the cylindrical notch 11 perpendicular to the center of the loading cylinder 201 and connecting the outer side of the loading cylinder 201 with the inner side of the annular groove 15, the limiting ball 306 can be installed from the cylindrical notch 11 to the inner side of the annular groove 15 during the assembly stage, and it is ensured that the loading cylinder 201 can rotate outside the limiting ball 306 through the annular groove 15.

[0066] At the same time, the outer side of the annular groove 15 is connected to the outer side of the loading cylinder 201, and the short rod 307 and the cross rod 308 are slidably connected to the inside of the movable groove 14. When the loading cylinder 201 rotates on the inner side of the protective arc plate 301, the short rod 307 and the cross rod 308 are located inside the movable groove 14, and the loading cylinder 201 rotates outside the limiting ball 306 through the annular groove 15. When the loading cylinder 201 is lifted to the top, the loading cylinder 201 pulls the limiting ball 306 through the annular groove 15 to drive the short rod 307 and the cross rod 308 to move to the top. When the short rod 307 and the cross rod 308 contact the limiting pin 305 at the top of the movable groove 14, the protective arc plate 301 is driven to rotate around the shaft rod 304, so that the loading cylinder 201 that moves toward the top can be linked to the protective arc plate 301 to be in a horizontal state when it is about to be retracted into the interior of the surveying and mapping unmanned vessel 1.

[0067] The above design provides a receiving notch 4 on the bottom of the unmanned surveying and mapping vessel 1, allowing the protective arc plate 301 to be hinged to the inner side of the assembly base 302 via the shaft 304 and the buckle cap 303. Furthermore, the annular groove 15 is used on the outer side of the bottom of the loading cylinder 201, and the movable groove 14 is used on the inner side of the protective arc plate 301 to connect the limiting ball 306, the short rod 307, and the cross bar 308. When the loading cylinder 201 rotates inside the protective arc plate 301, the short rod 307 and the cross bar 308 are located inside the movable groove 14, while the loading cylinder 201 rotates outside the limiting ball 306 via the annular groove 15.

[0068] At the same time, when the loading cylinder 201 is lifted to the top, the loading cylinder 201 pulls the limiting ball 306 through the annular groove 15 to drive the short rod 307 and the cross bar 308 to move to the top. After the short rod 307 and the cross bar 308 contact the limiting pin 305 at the top of the movable channel 14, the protective arc plate 301 is driven to rotate around the shaft 304, so that when the loading cylinder 201 that moves toward the top is about to be stored inside the surveying and mapping unmanned boat 1, the protective arc plate 301 can be linked to be in a horizontal state, which is beneficial for removing the loading structure 2 so that the protective arc plate 301 can be stored on the inner side of the storage slot 4, keeping the bottom surface of the surveying and mapping unmanned boat 1 free of protrusions.

[0069] Finally, it should be noted that the above embodiments are merely examples for the purpose of illustrating the present invention and are not intended to limit the embodiments. Those skilled in the art will readily appreciate that other variations or modifications based on the above description are possible. It is not necessary and impossible to provide an exhaustive list of all embodiments. However, obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A probe loading device for an unmanned ship used for ocean surveying and mapping in a complex environment, characterized in that: include: Loading structure (2); A surveying probe (7) is arranged inside the loading structure (2); A protective structure (3) resting against the outside of the loading structure (2); Mapping unmanned vessels (1); The loading structure (2) comprises a loading cylinder (201), a visual window (210) is embedded in the side of the bottom of the loading cylinder (201), a base (211) is provided on the inner side of the bottom of the loading cylinder (201), a vertical plate (209) is assembled and connected to the top of the base (211) away from the visual window (210), an outer gear ring (205) is assembled and connected to the top of the vertical plate (209), a driving gear (203) is meshed and connected to the outer side of the outer gear ring (205), and a rotating cylinder (202) is assembled and connected to the top of the driving gear (203); The protective structure (3) comprises a protective arc plate (301), the cross section of the protective arc plate (301) is C-shaped, and an assembly base (302) is provided on the top of the protective arc plate (301); The surveying probe (7) is assembled and connected to the top of the base (211), and the loading cylinder (201) moves relative to the protective arc plate (301), and foreign matter is removed by means of the side edges and corners of the protective arc plate (301).

2. The probe loading device for an unmanned vessel for ocean surveying and mapping in a complex environment according to claim 1, characterized in that: A positioning rib (216) is integrally formed on the inner wall of the loading cylinder (201) on the side away from the visual window (210), and a positioning slide (212) is integrally formed on the bottom of the base (211) on the side away from the visual window (210). The positioning slide (212) and the side of the base (211) away from the visual window (210) are both processed with an inward recessed notch (10); The positioning slide plate (212) is slidably connected to the outside of the positioning rib (216) through the recessed notch (10), and the rotary cylinder (202) controls the rotation of the driving gear (203) to drive the outer gear ring (205) to drive the vertical plate (209) to rotate, so that the base (211) drives the loading cylinder (201) to rotate on the inner side of the protective arc plate (301).

3. The probe loading device for an unmanned vessel for ocean surveying and mapping in a complex environment according to claim 1, characterized in that: A column (215) is provided on the bottom surface of the bottom of the base (211) near the positioning slide (212), the bottom of the column (215) is threadedly connected to a support screw (213), and the middle of the support screw (213) is threadedly connected to a locking nut (214); The anti-loosening nut (214) is supported on the bottom surface of the column (215), and the supporting screw (213) is supported on the bottom inner wall of the loading cylinder (201).

4. The probe loading device for an unmanned vessel for ocean surveying and mapping in a complex environment according to claim 1, characterized in that: A conductive slip ring (6) is provided on the top of the outer gear ring (205), and the wire on the surveying and mapping probe (7) is connected to the wire extending from the bottom of the conductive slip ring (6).

5. The probe loading device for an unmanned vessel for ocean surveying and mapping in a complex environment according to claim 1, characterized in that: A storage groove (9) is provided inside the vertical plate (209), and two positioning double rods (8) are welded to the inner wall of the storage groove (9). The wire on the surveying and mapping probe (7) is folded from the center and passes through the inner sides of the two positioning double rods (8), so that the folding point is from the storage groove (9) toward the axis area of ​​the loading cylinder (201).

6. The probe loading device for an unmanned vessel for ocean surveying and mapping in a complex environment according to claim 1, characterized in that: The top of the outer gear ring (205) is covered with a buckle frame (206), a sector block (207) is integrally formed on the inner wall of the outer gear ring (205), a horizontal bar (204) is integrally formed on the top of the buckle frame (206), and a support shaft (208) is provided at the bottom of the horizontal bar (204) near the center of the buckle frame (206); The buckle frame (206) is assembled to the interior of the surveying and mapping unmanned boat (1) by means of bolts, the inner wall of the buckle frame (206) is fitted with the outer wall of the top of the loading cylinder (201), one end of the support shaft (208) passes through the interior of the sector block (207) and is connected thereto using a bearing, the rotating cylinder (202) is assembled to the end of the horizontal bar (204) away from the center of the buckle frame (206), and the driving gear (203) passes through the interior of the buckle frame (206) and is meshed with the outer gear ring (205).

7. The probe loading device for an unmanned vessel for ocean surveying and mapping in a complex environment according to claim 6, characterized in that: A mounting notch (12) is provided at the edge of the buckle frame (206), and the rotating shaft of the rotary cylinder (202) assembled to the top of the horizontal bar (204) is located at the top of the mounting notch (12). A bolt passes through the inside of the mounting notch (12) to assemble and fix the driving gear (203) and the rotating shaft of the rotary cylinder (202).

8. The probe loading device for an unmanned vessel for ocean surveying and mapping in a complex environment according to claim 1, characterized in that: The bottom of the surveying and mapping unmanned boat (1) is formed with a receiving slot (4), and the assembly base (302) is riveted and fixed to the top inner wall of the receiving slot (4), so that the assembly base (302) is completely received inside the receiving slot (4).

9. The probe loading device for an unmanned vessel for ocean surveying and mapping in a complex environment according to claim 8, characterized in that: The protective arc plate (301) is processed with shafts (304) at the top on both sides parallel to the forward direction of the surveying and mapping unmanned ship (1), and the assembly base (302) is provided with limiting column grooves (13) and strip grooves (5) on both sides parallel to the forward direction of the surveying and mapping unmanned ship (1). The strip grooves (5) connect the limiting column grooves (13) with the edge, and the diameter of the limiting column grooves (13) is greater than the width of the strip grooves (5). The outer portion of the shaft (304) is sleeved with a buckle cap (303) that is pinned to the inner portion of the limiting column grooves (13).

10. The probe loading device for an unmanned vessel for ocean surveying and mapping in a complex environment according to claim 9, characterized in that: The bottom of the loading cylinder (201) is provided with an annular groove (15) and a cylindrical notch (11); the inner side of the protective arc plate (301) is provided with a movable groove (14) with a cross-shaped cross section; the top of the movable groove (14) is provided with a limit pin (305) pinned to the inside of the protective arc plate (301); the inner part of the annular groove (15) is movably connected to a limit ball (306); the surface of the limit ball (306) is integrally formed with a short rod (307); the inner part of the short rod (307) away from the limit ball (306) is pin-connected to a cross rod (308); The cylindrical notch (11) is perpendicular to the center of the loading cylinder (201) and connects the outer side of the loading cylinder (201) with the inner side of the annular groove (15). The outer side of the annular groove (15) is connected with the outer side of the loading cylinder (201). The short rod (307) and the cross rod (308) are slidably connected to the inner side of the movable channel (14).

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